Current Students



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Huawei Zhu

Ph.D. Student

Research Topic: Aerial Robotics



Keyvan Mohammadi

Ph.D. Student

Research Topic: Aerial Robotics


Sahand Ghaffari

Ph.D. Student

Research Topic: Aerial Robotics



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Ali Grivani

Ph.D. Student

Research Topic: Aerial Robotics



Lab Alumni



Mohsen Rafiee


Ph.D. (2018)

Thesis: Coordinated Energy Management in a Network of Microgrids

Current Position:Software Developer-Control and Path Planning, Avidbots

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Eric Dyer


M.A.Sc. (2018)

Thesis: Modelling and Control of an Omni-directional UAV

Current Position: Embedded Software Designer, L3 WESCAM Aerospace and Defense

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Muzamil Rashid


M.A.Sc. (2017)

Thesis: Optimal Control of Commuter Train Considering Traction and Braking Delays

Current Position: Software Analyst, Thales Canada, Transportation Solutions



Mohammad Jafarinasab


Ph.D. (2017)

Thesis:Motion Control of Under-actuated Aerial Robotic Manipulators

Current Position:Software Design Engineer, Thales Canada Transportation Solutions


David Findlay


M.A.Sc. (2017)

Thesis: A Novel Hybrid Aerial/Ground Mobile Manipulator

Current Position: Machine Learning Engineer,

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Dennis Yazhemsky


M.A.Sc. (2017)

Thesis: A Real-time Capable Adaptive Optimal Controller for a Commuter Train

Current Position: Systems Analyst, Thales Canada Transportation Solutions


Adhi Ravichandran


Ph.D. (2016) (co-supervised with Dr. A. Emadi)

Thesis: Optimization-based Microgrid Energy Management Systems

Current Position: Senior Data Scientist, Clearbanc


Yingguang Sun


Ph.D. (2016) (co-supervised with Dr. A. Emadi)

Thesis: Uni ed Position Sensorless Solution with Wide Speed Range Capabilities for IPM Synchronous Motor Drives

Current Position: Motor Control Engineer, BorgWarner Inc.


Raheleh Khodabakhsh


M.A.Sc. (2015)

Thesis: Energy Management in Grid-connected Microgrids with On-site Storage Devices

Current Position:Big Data Platform Engineer, Huawei Technologies

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Shadi Emami


M.A.Sc. (2015)

Thesis:Model-based Deformable Registration of MRI Breast Images with Enhanced Feature Selection

Current Position: Community Support Specialist at Method Integration, Toronto, ON, Canada

Bahram Marami

Ph.D. (2013) (co-supervised with Dr. D. Capson)

Thesis: Elastic Registration of Medical Images using Generic Dynamic Deformation Models

Current Position: Computer Vision Data Scientist, Icahn School of Medicine at Mount Sinai, New York, NY, USA

ramin mafi

Ramin Mafi

Ph.D. (2014), M.A.Sc. (2008)

PhD Thesis: GPU-based Parallel Computing for Nonlinear Finite Element Deformation Analysis

M.A.Sc. Thesis: Hardware-based Parallel Computing for Real-time Simulation of Soft-object Deformation

Current Position: Parallel Programming Specialist, Rocscience Inc., Toronto, ON, Canada

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Saman Rahnamaei

M.A.Sc. (2013)

Thesis: Optimization-based Assistive Controllers in Teleoperation of Mobile Robotic Manipulators

Current Position: Embedded System Design Engineer, Lotek Wireless Inc., Toronto, ON, Canada

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Sajad Salmanipour

M.A.Sc. (2013)

Thesis: Model-predictive Collision Avoidance in Teleoperation of Mobile Robots

Current Position: Ph.D. Student, University of Toronto

Eric Yu

M.A.Sc. (2014) (co-supervised with Dr. A. Emadi)

Thesis: Optimization and Control of an Energy Management System for Microgrids

Current Position: President at MY Construction Supply Corp.

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Gutao Lin

M.A.Sc. (2014) (co-supervised with Dr. A. Emadi)

Thesis: Optimal Energy Management in Microgrids with Integrated Cooling/Heating

Current Position: Development and Test Engineer, L&S Power Development Inc., Hamilton, ON, Canada

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Behzad Iranpanah

M.A.Sc. (2013)

Thesis: Tissue Stabilization in MRI-Guided Breast Biopsy

Current Position: Design Engineer at Camino Modular Systems Inc., Toronto, ON, Canada


Maggie Chen

M.A.Sc. (2013)

Thesis: Designing a Tissue Stabilization Device for MRI-Guided Breast Biopsy

Current Position: Member of Technical Staff, Guidance, Navigation and Controls Group, MDA Space Missions, Brampton, Ontario, Canada

pawel malysz

Pawel Malysz


Ph.D. (2011), M.A.Sc.(2007)

Ph.D. Thesis:A kinematic control framework for asymmetric semi-autonomous teleoperation systems

M.A.SC. Thesis: Enhanced bilateral teleoperation using generalized force/position mapping


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Current Position:BMS Controls Engineering Specialist, Fiat Chrysler Automobiles, Auburn Hills, MI, USA

Hamed Mousazadeh


M.A.Sc. (2011)

Thesis: Fast 3D Deformable Image Registration on a GPU Computing Platform

Current Position:NPI Technical Lead, Senior Software Engineer at AMD, Toronto, ON, Canada


Ali Shahdi

Ali Shahdi

Ph.D. (2010), M.A.Sc. (2005)

Ph.D. Thesis: Model-based predictive control for improving stability and transparency in time-delay teleoperation

M.A.Sc. Thesis: Multiple model control for teleoperation under time delay

Current Position: Engineering Manager at Oculus/Facebook, Menlo Park, CA, USA


Behzad Mahdavikhah


M.A.Sc. (2009)

Thesis: A multi-FPGA parallel computing architecture for real-time simulation of deformable objects

Current Position: VP Engineering at Appulse Power, Toronto, ON, Canada


Sina Nia Kosari


M.A.Sc. (2009)

Thesis: Improving transparency in network-based multi-user haptic simulations

Current Position: Manager, Control Systems Engineering at Verb Surgical, Mountain View, CA, USA


Navid Samavati


M.A.Sc. (2009) (co-supervised with S. Shirani)

Thesis: Deformable multi-modality image registration based on finite-element modeling and moving least squares

Current Position: Research Developer, Algorithm Specialis, Perimeter Medical Imaging, Toronto, ON, Canada


Brian Moody


M.A.Sc. (2009) (co-supervised with N. Nicolici)

Thesis: A hardware-based parallel computing platform for real-time interaction with deformable bodies

Current Position: Senior Engineer, Hardware Acceleration & Virtualization Platform at Huawei Technologies, Toronto, Ontario, Canada


Saba Moghimi


M.A.Sc. (2008)

Thesis: Haptic-enabled collaborative virtual environments for skills training

Current Position: Medical Student, University of Toronto


Bassma Ghali


M.A.Sc. (2008)

Thesis: Algorithms for nonlinear finite-element based modeling of soft-tissue deformation and cutting

Current Position: Head of Biomedical Signal Processing Team, Elastic Care, Toronto, ON, Canada


Amin Abdossalami


M.A.Sc. (2008)

Thesis: Adaptive control for improved transparency in haptic interaction with virtual environments

Current Position: Co-founder, Unified Computer Intelligence Corporation, Toronto, ON, Canada

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Mahyar Fotoohi


M.A.Sc. (2006) (co-supervised with D. Capson)

Thesis: Multi-rate control architectures for network-based multi-user haptics

Current Position: Co-founder, Unified Computer Intelligence Corporation; Channel Manager - Far East and Oceania, Quanser, Markham, ON, Canada

Peyman Setoodeh


M.A.Sc. (2006)

Thesis: Modelling and control of cooperative multi-master/multi-slave teleoperation systems

Current Position: Senior Engineer at Shannon Cognitive Computing Lab, Huawei Canada Research Centre Huawei Technologies, Markham, ON, Canada

Forough Farshidi


M.A.Sc.(2005) (co-supervised with T. kirubarajan)

Thesis: Robust sequential view planning for object recognition using multiple cameras

Current Position: Ph.D. Student, Stanford University